Industrial vehicle positioning system and method

ABSTRACT

An industrial vehicle positioning system and method are presented. The system includes a first imaging subsystem for acquiring a first indicia image and a second imaging subsystem for acquiring a second indicia image. An image analysis subsystem is configured for analyzing the first indicia image to acquire a first location designation, and for analyzing the second indicia image to acquire a second location designation. A processor is configured for determining the location of the industrial vehicle based upon the first location designation and the second location designation.

CROSS-REFERENCE TO RELATED APPLICATION

The present application claims the benefit of U.S. Patent Application No. 62/098,643 for an Industrial Vehicle Positioning System and Method filed on Dec. 31, 2014, which is hereby incorporated by reference in its entirety.

FIELD OF THE INVENTION

The disclosure relates generally to industrial vehicles, and more particularly, to an industrial vehicle positioning system and method.

BACKGROUND OF THE DISCLOSURE

Industrial vehicles are commonly used to transport materials and equipment in a facility. Industrial vehicles are particularly useful for transporting loads that are too heavy to be transported by human-powered means. A variety of positioning systems have been employed for tracking the location of an industrial vehicle within a facility. These positioning systems are useful for providing the operator of an industrial vehicle with navigational assistance, as well as providing a supervisor with an overview of the distribution of the industrial vehicle fleet within a warehouse (e.g., for dispatching purposes).

Many conventional positioning systems presently utilized in determining the location of an industrial vehicle rely upon radio frequency (RF) technology. These RF-based positioning systems typically include transmitters (e.g., radio transmitters, radio beacons, etc.) positioned throughout the facility. A receiver (e.g., radio receiver) positioned in the industrial vehicle receives signals from the transmitters that are within range. These conventional systems usually then calculate the position of the industrial vehicle based upon the location of origin and signal strength of the received signals. Examples of such conventional RF-based systems include RFID-based positioning systems, GPS-based positioning systems, cellular-based positioning systems, and WLAN-based positioning systems.

While these conventional positioning systems can accurately locate an industrial vehicle, there are significant drawbacks to utilization of these systems. For example, these systems can be difficult and expensive to install and maintain. In addition, these conventional systems may be impractical or unreliable due to inherent limitations of radio transmissions such as direct line of sight requirements and signal interference.

What is needed is an industrial vehicle positioning system that can be installed and maintained in a cost-effective manner, and that does not require the use of radio frequency signals.

SUMMARY OF THE INVENTION

In one aspect, the present disclosure embraces an industrial vehicle positioning system. The system includes a first imaging subsystem for acquiring a first indicia image. The system also includes a second imaging subsystem for acquiring a second indicia image. The system also includes an image-analysis subsystem that is in communication with the first imaging subsystem and the second imaging subsystem. The image-analysis subsystem is configured for (i) receiving the first indicia image from the first imaging subsystem, (ii) receiving the second indicia image from the second imaging subsystem, (iii) analyzing the first indicia image to acquire a first location designation, and (iv) analyzing the second indicia image to acquire a second location designation. The system also includes a processor in communication with the image-analysis subsystem. The processor is configured for (i) receiving the first location designation and the second location designation from the image-analysis subsystem, and (ii) determining the location of the industrial vehicle based upon the first location designation and the second location designation.

In an alternative embodiment, the image-analysis subsystem is a barcode-reading subsystem.

In another alternative embodiment, analyzing the first indicia image to acquire a first location designation includes reading a barcode in the first indicia image. According to this alternative embodiment of the system according to the present disclosure, analyzing the second indicia image to acquire a second location designation includes reading a barcode in the second indicia image.

In yet another alternative embodiment, the image-analysis subsystem is an optical-character-recognition subsystem.

In yet another alternative embodiment, analyzing the first indicia image to acquire a first location designation includes recognizing a character in the first indicia image. Analyzing the second indicia image to acquire a second location designation includes recognizing a character in the second indicia image.

In yet another alternative embodiment, determining the location of the industrial vehicle includes correlating the first location designation and the second location designation to a location-matrix.

In another aspect, the present disclosure embraces a system that includes an industrial vehicle. The system also includes a first imaging subsystem positioned on the industrial vehicle. The first imaging subsystem is configured for acquiring a first indicia image of a first indicia located in front of the industrial vehicle. The system also includes a second imaging subsystem positioned on the industrial vehicle. The second imaging subsystem is configured for acquiring a second indicia image of a second indicia located behind the industrial vehicle. The system also includes an image-analysis subsystem in communication with the first imaging subsystem and the second imaging subsystem. The image-analysis subsystem is configured for (i) receiving the first indicia image from the first imaging subsystem, (ii) receiving the second indicia image from the second imaging subsystem, (iii) analyzing the first indicia image to acquire a first location designation, and (iv) analyzing the second indicia image to acquire a second location designation. The system also includes a processor in communication with the image-analysis subsystem. The processor is configured for (i) receiving the first location designation and the second location designation from the image-analysis subsystem, and (ii) determining the location of the industrial vehicle based upon the first location designation and the second location designation.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of an exemplary industrial vehicle.

FIG. 2 is a perspective view of an exemplary industrial vehicle positioned between an exemplary first indicia and an exemplary second indicia.

FIG. 3 is block diagram of an exemplary system according to the present disclosure.

FIG. 4 is block diagram of an alternative embodiment of a system according to the present disclosure.

FIG. 5 is block diagram of an alternative embodiment of a system according to the present disclosure.

DETAILED DESCRIPTION

The system according to the present invention is directed toward determining the position of an industrial vehicle. Industrial vehicles include, for example, forklifts, pallet trucks, material handling vehicles, tow tractors, lift trucks, container handlers, orderpickers, sideloaders, stacker/retrieval machines, reach trucks, swing reach trucks, counterbalanced forklift vehicles, and similar vehicles driven (e.g., maneuvered, controlled, operated, etc.) by a human operator. Typically, the system determines the location of the industrial vehicle within a facility, such as a warehouse. Other types of facilities include ports, rail yards, trucking terminals, distribution centers, etc. Advantageously, the present system may be used indoors or outdoors.

Rather than exclusively relying on beacons that generate an RF-signal to aid in the location of the industrial vehicle, the system according to the present disclosure utilizes machine-readable visual cues in the form of indicia. The indicia may be symbols (e.g., barcodes) or text (e.g., alphanumeric text). Each indicia is positioned at, and associated with, a unique location within the facility. A first imaging subsystem acquires an image (e.g., photographs, videos) of the indicia in front of the industrial vehicle. A second imaging system acquires an image of the indicia behind the industrial vehicle. The system analyzes the images to recognize the indicia and acquire the information represented by the indicia (e.g., read or decode the indicia). The system can then cross-reference the information represented by each indicia with the known positions of the indicia to determine the location of the industrial vehicle within the facility. For example, if the system determines, through image processing, that the industrial vehicle is positioned between indicia-A and indicia-B, the system can reference the known positions of the indicia within the facility to determine that the industrial vehicle is located, for example, on Aisle-1.

The system according to the present disclosure advantageously can be implemented using a vehicle-mount computer or other mobile computer device that is connected (e.g., communicatively connected) to the first imaging subsystem and the second imaging subsystem. Vehicle-mount computers are commonly used in industrial vehicles. Consequently, industrial vehicles may be manufactured or retrofitted with the present system in a cost-efficient manner.

Referring to the figures in the accompanying drawings, certain illustrative embodiments of the system according to the present disclosure will be described in great detail, where like elements will be indicated using like reference numerals. Turning now to the drawings, FIG. 1 is an exemplary embodiment of an industrial vehicle 105 that may have its location tracked by the present system. In this instance, the industrial vehicle is a forklift. As mentioned above, however, a suitable industrial vehicle may be any of a variety of industrial vehicles or other types of vehicles.

FIG. 2 depicts an exemplary industrial vehicle 105 being operated in proximity to indicia that have been positioned within a facility (e.g., adjacent to shelving structures (illustrated in FIG. 2 using broken lines)). When the industrial vehicle is at a location within the facility such as the one depicted in FIG. 2, a first indicia 111 is located in front of the industrial vehicle and a second indicia 111 is located behind the industrial vehicle. As explained below, the system is able to automatically determine the location of the industrial vehicle 105 based upon an analysis of the first indicia 111 and the second indicia 111. Images of the indicia are acquired by a first imaging subsystem 110A and a second imaging subsystem 110B.

It will be appreciated by a person of ordinary skill in the art that references to an indicia being located in front of the industrial vehicle are intended to refer generally to the area of three-dimensional space surrounding (e.g., within a distance of between about 5 feet and about 100 feet of) the front portion of the industrial vehicle 105. For example, there is no requirement that an indicia be directly in front of the industrial vehicle when read by the system. Indeed, the indicia will frequently be positioned to one side of the industrial vehicle 105. Similarly, references to an indicia being located behind the industrial vehicle are intended to refer generally to the area of three-dimensional space surrounding the rear portion of the industrial vehicle 105.

Referring now to FIG. 3, the industrial vehicle positioning system 100 according to the present disclosure includes a first imaging subsystem 110A for acquiring a first indicia image 115. An indicia image 115 is an image (e.g., photograph) of an indicia 111. Typically, an indicia image 115 is a digital image. Typically, an imaging subsystem includes a camera (e.g., video camera, digital video camera, CCD, CMOS, digital still camera, barcode scanner, etc.). An imaging subsystem receives an optical signal from the indicia 111 (e.g., reflected light), and converts the optical signal into an electrical signal (e.g., a digital computer file) suitable for processing by the system 100. An imaging subsystem may include components (e.g., auxiliary lighting, telescopic lens, wide-angle lens, etc.) for ensuring the acquisition of an indicia image 115 that is suitable for processing. The system also includes a second imaging subsystem 110B for acquiring a second indicia image 115.

Typically, the first indicia image 115 depicts a different indicia 111 (e.g., an indicia positioned at a different location in the facility) than the indicia 111 depicted in the second indicia image 115. More typically, the first indicia image 115 depicts an indicia positioned in front of the industrial vehicle 105 and the second indicia image 115 depicts an indicia positioned behind the industrial vehicle 105. In this way, the system 100 is configured to determine between which two indicia 111 the industrial vehicle 105 is positioned. As will be explained below, using this information, this system 100 is able to determine the position of the industrial vehicle 105 within the facility.

The system 100 according to the present disclosure also includes an image-analysis subsystem 130. The image-analysis subsystem 130 is in communication with (e.g., in electronic communication with, electronically coupled to, etc.) the first imaging subsystem 110A and the second imaging subsystem 110B. The image-analysis subsystem 130 may communicate with the imaging subsystems via a wired or wireless connection. Regardless of the manner of connection, the image-analysis subsystem 130 is configured to receive the first indicia image 115 from the first imaging subsystem 110A. The image-analysis subsystem 130 is further configured to receive the second indicia image 115 from the second imaging subsystem 110B. As such the image-analysis subsystem 130 can receive indicia images 115 from both the first imaging subsystem 110A and the second imaging subsystem 110B.

The image-analysis subsystem 130 is also configured for analyzing the first indicia image 115 to acquire a first location designation. A location designation is information (e.g., data) represented by the indicia 111 (e.g., information obtained by reading or decoding the indicia). Typically, a location designation includes a number (or other alphanumeric combination) that uniquely identifies the decoded indicia, and by association uniquely identifying the location of the decoded indicia within the facility. The image-analysis subsystem 130 is also configured for analyzing the second indicia image 115 to acquire a second location designation.

The system 100 also includes a processor 140 (e.g., computer processor, CPU, microprocessor, etc.). The processor 140 is in communication with the image-analysis subsystem 130. The processor 140 is configured for receiving the first location designation and the second location designation from the image-analysis subsystem 130. The processor 140 is further configured for determining the location of the industrial vehicle based upon the first location designation and the second location designation. Typically, the processor 140 includes machine-readable instructions (e.g., computer software) which, when executed by the processor 140, perform these tasks. Alternatively, the processor 140 may include computer hardware (e.g., integrated circuits) configured to perform these tasks. As will be appreciated by a person of ordinary skill in the art, the processor 140 may also perform these tasks utilizing a combination of machine-readable instructions and computer hardware.

Typically, the processor 140 determines the location of the industrial vehicle 105 by correlating the first location designation and the second location designation with a location-matrix. The location-matrix may be a lookup table or any other type of information from which the location in the facility may be determined through a calculation or query that includes the first location designation and the second location designation. The location-matrix may be a computer file (e.g., data file) stored in a non-transitory computer readable medium, a computer database, or other suitable information repository. For instance, the processor 140 may query the location-matrix using a location designation tuple, and receive in response the location of the industrial vehicle 105. The location of the industrial vehicle 105 may be represented alphanumerically (e.g., “Row 5, Bin 7” or “coordinate X,Y”). Alternatively, or in addition, the location of the industrial vehicle 105 may be represented graphically (e.g., as an icon on a map of the facility displayed on a display screen).

As shown in FIG. 4, in an alternative embodiment, the image-analysis subsystem is a barcode-reading subsystem 130A. When employing this alternative embodiment of the system 100 according to the present invention, the indicia 111 include barcodes. The term barcode is intended in its broadest sense, and includes 1D barcodes, 2D barcodes, matrix codes, QR codes, and similar information-representing symbols. The barcode-reading subsystem 130A is configured to identify barcodes within an indicia image 115. The barcode-reading subsystem 130A is further configured to read (e.g., decode) the barcode, thereby acquiring the location information represented by the barcode. Using this configuration, a plurality of indicia 111 having a barcode are placed throughout the facility. Images of barcodes (e.g., two different barcodes) are acquired and decoded in the manner described above to determine the position of the industrial vehicle 105 within the facility. Typically, the barcode-reading subsystem 130A employs image processing software configured for identifying and decoding barcodes.

In another alternative embodiment shown in FIG. 5, the image analysis subsystem is an optical-character-recognition subsystem 130B. Using this configuration, the system 100 determines the location of the industrial vehicle 105 based upon a plurality of indicia 111 having text (e.g., alphanumeric text). The text may be in addition to, or in lieu of, a barcode. The optical-character-recognition subsystem 130B is configured to recognize (e.g., understand, read, etc.) text. When analyzing an indicia image 115, the optical-character-recognition subsystem 130B reads the text to acquire the location designation. Typically, the optical-character-recognition-subsystem 130B employs optical character recognition image processing techniques.

Because the system 100 according to the present invention utilizes two distinct indicia 111 for locating the industrial vehicle 105 within a facility, the system 100 may also determine information regarding the direction of travel of the industrial vehicle 105. For example, if the first imaging subsystem 110A is known to the system to have a field of view of the area in front of the industrial vehicle 105, and if the system 100 assumes the industrial vehicle is moving forward, the system 100 may determine the direction of travel based upon the specific indicia 111 captured by the first imaging subsystem 110A. The system 100 may also include an accelerometer or other motion sensor for enhancing its ability to determine direction of travel.

In another aspect, the present disclosure embraces a system 100 that includes an industrial vehicle 105. A first imaging subsystem 110A and a second imaging subsystem 110B are positioned on the industrial vehicle. Typically, the first imaging subsystem 110A is positioned such that it acquires images in front of the industrial vehicle 105; and the second imaging subsystem 110B is positioned such that it acquires images behind the industrial vehicle 105. Alternatively, the first imaging subsystem 110A is positioned such that it acquires images to one side of the industrial vehicle; and the second imaging subsystem 110B is positioned such that it acquires images from the opposite side of the industrial vehicle. The system 100 also includes an image-analysis subsystem 130 and a processor 140 in accordance with the present disclosure. In this way, the present disclosure embraces an industrial vehicle that is configured to determine its own position within a facility.

The present disclosure also embraces a computerized method of determining the location of an industrial vehicle being operated in a facility. Typically, the computerized method is carried out in accordance with the functionality of the embodiments of the system of the present disclosure.

To supplement the present disclosure, this application incorporates entirely by reference the following patents, patent application publications, and patent applications:

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In the specification and figures, typical embodiments of the invention have been disclosed. The present invention is not limited to such exemplary embodiments. Unless otherwise noted, specific terms have been used in a generic and descriptive sense and not for purposes of limitation. 

What is claimed is:
 1. An industrial vehicle positioning system, comprising: a first imaging subsystem for acquiring a first indicia image; a second imaging subsystem for acquiring a second indicia image; an image-analysis subsystem in communication with the first imaging subsystem and the second imaging subsystem, the image-analysis subsystem configured for (i) receiving the first indicia image from the first imaging subsystem, (ii) receiving the second indicia image from the second imaging subsystem, (iii) analyzing the first indicia image to acquire a first location designation, and (iv) analyzing the second indicia image to acquire a second location designation; and a processor in communication with the image-analysis subsystem, the processor configured for (i) receiving the first location designation and the second location designation from the image-analysis subsystem, and (ii) determining the coordinate location of the industrial vehicle based upon the first location designation and the second location designation by correlating the first location designation and the second location designation to a location-matrix stored in an information repository.
 2. The system of claim 1, wherein the image-analysis subsystem is a barcode-reading subsystem.
 3. The system of claim 2, wherein: analyzing the first indicia image to acquire a first location designation comprises reading a barcode in the first indicia image; and analyzing the second indicia image to acquire a second location designation comprises reading a barcode in the second indicia image.
 4. The system of claim 1, wherein the image-analysis subsystem is an optical-character-recognition subsystem.
 5. The system of claim 4, wherein: analyzing the first indicia image to acquire a first location designation comprises recognizing a character in the first indicia image; and analyzing the second indicia image to acquire a second location designation comprises recognizing a character in the second indicia image.
 6. The system of claim 1, wherein the first imaging subsystem comprises a digital video camera and the second imaging subsystem comprises a digital video camera.
 7. The system of claim 1, wherein the first imaging subsystem comprises a digital still camera and the second imaging subsystem comprises a digital still camera.
 8. A system, comprising: an industrial vehicle; a first imaging subsystem positioned on the industrial vehicle, the first imaging subsystem configured for acquiring a first indicia image of a first indicia located in front of the industrial vehicle; a second imaging subsystem positioned on the industrial vehicle, the second imaging subsystem configured for acquiring a second indicia image of a second indicia located behind the industrial vehicle; an image-analysis subsystem in communication with the first imaging subsystem and the second imaging subsystem, the image-analysis subsystem configured for (i) receiving the first indicia image from the first imaging subsystem, (ii) receiving the second indicia image from the second imaging subsystem, (iii) analyzing the first indicia image to acquire a first location designation, and (iv) analyzing the second indicia image to acquire a second location designation; and a processor in communication with the image-analysis subsystem, the processor configured for (i) receiving the first location designation and the second location designation from the image-analysis subsystem, and (ii) determining the coordinate location of the industrial vehicle based upon the first location designation and the second location designation by correlating the first location designation and the second location designation to a location-matrix stored in an information repository.
 9. The system of claim 8, wherein the image-analysis subsystem is a barcode-reading subsystem.
 10. The system of claim 9, wherein: analyzing the first indicia image to acquire a first location designation comprises reading a barcode in the first indicia image; and analyzing the second indicia image to acquire a second location designation comprises reading a barcode in the second indicia image.
 11. The system of claim 8, wherein the image-analysis subsystem is an optical-character-recognition subsystem.
 12. The system of claim 11, wherein: analyzing the first indicia image to acquire a first location designation comprises recognizing a character in the first indicia image; and analyzing the second indicia image to acquire a second location designation comprises recognizing a character in the second indicia image.
 13. The system of claim 8, wherein the industrial vehicle is a forklift.
 14. The system of claim 8, wherein the first imaging subsystem comprises a digital video camera and the second imaging subsystem comprises a digital video camera.
 15. A method of determining the location of an industrial vehicle being operated in a facility, comprising: acquiring a first indicia image, wherein the first indicia image depicts a first indicia positioned at a first location in the facility; acquiring a second indicia image, wherein the second indicia image depicts a second indicia positioned at a second location in the facility; using a processor, analyzing the first indicia image to acquire a first location designation associated with the first location in the facility; using the processor, analyzing the second indicia image to acquire a second location designation associated with the second location in the facility; using the processor, determining the coordinate location of the industrial vehicle based upon the first location designation and the second location designation by correlating the first location designation and the second location designation to a location-matrix stored in an information repository.
 16. The method of claim 15, wherein: analyzing the first indicia image to acquire a first location designation comprises reading a barcode in the first indicia image; and analyzing the second indicia image to acquire a second location designation comprises reading a barcode in the second indicia image.
 17. The method of claim 15, wherein: analyzing the first indicia image to acquire a first location designation comprises recognizing a character in the first indicia image; and analyzing the second indicia image to acquire a second location designation comprises recognizing a character in the second indicia image.
 18. The method of claim 15, wherein determining the location of the industrial vehicle comprises correlating the first location designation and the second location designation to a location-matrix. 